CN109855564A - A kind of Small object precision three-dimensional Laser Scanning and system - Google Patents
A kind of Small object precision three-dimensional Laser Scanning and system Download PDFInfo
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- CN109855564A CN109855564A CN201910147100.XA CN201910147100A CN109855564A CN 109855564 A CN109855564 A CN 109855564A CN 201910147100 A CN201910147100 A CN 201910147100A CN 109855564 A CN109855564 A CN 109855564A
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- rotating platform
- displacement sensor
- platform
- laser displacement
- hoistable platform
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Abstract
The present invention provides a kind of Small object precision three-dimensional Laser Scanning and system, rotating platform, hoistable platform, laser displacement sensor and computer are set, computer controls the height of rotating platform rotation angle and hoistable platform, and obtains the height value Z of rotation angle, θ and hoistable platform；Computer also obtains the measurement result of laser displacement sensor, and measurement result reflection is distance of the laser displacement sensor to testee surface；In measurement process, the relative position of rotating platform and hoistable platform is fixed, laser displacement sensor is directed toward to the horizontal rotation center of circle of rotating platform, and measure laser displacement sensor to rotating platform rotation center distance, by adjusting hoistable platform, testee is scanned every preset vertical separation value h, the coordinate of measured target point on the object under test measured.The present invention realizes the accurate measurement and modeling of small-sized object with lower cost.
Description
Technical field
The present invention relates to measurement and modeling field, especially a kind of Small object precision three-dimensional Laser Scanning and system.
Background technique
Measurement and modeling for small-sized object use three-dimensional laser scanner or photogrammetric method more at present.
The former is at high cost, and the latter's precision is limited.In precision manufactureing industry, it is often necessary to which high-acruracy survey and modeling, required precision is 0.1
Within millimeter, and the precision of three-dimensional laser scanner is unable to satisfy the demand of high-acruracy survey and modeling usually in grade.With
Although the scanner that photogrammetric method is realized, precision can satisfy requirement, but need to label will in target, and very much
Target is not allow to label will, such as rare cultural relics, and the object etc. that surface is easy to fall off, in addition current scanner price is logical
It is often all more expensive, generally more than hundreds of thousands RMB.The Small object precision three-dimensional laser realized using the method for the invention
0.03 millimeter of precision of measurement modeling may be implemented in system, and cost is less than 10,000 RMB.
Summary of the invention
The present invention is directed to prior art defect, proposes the Small object precision three-dimensional Laser Scanning of low-cost and high-precision
And system.
Technical solution of the present invention provides a kind of Small object precision three-dimensional Laser Scanning, and setting rotating platform 1, lifting are flat
Platform 2, laser displacement sensor 3 and computer 4, rotating platform 1, hoistable platform 2, laser displacement sensor 3 and computer 4 are distinguished
Connection,
Rotating platform 1 is rotated for placing testee with testee；
Setting can adjust the hold assembly fixed laser displacement sensor 3 of height in hoistable platform 2；
Rotating platform 1 and hoistable platform 2 are controlled by computer 4, and computer 4 controls rotating platform 1 and rotates angle and lifting
The height of platform 2, and obtain the height value Z of rotation angle, θ and hoistable platform 2；Computer 4 also obtains laser displacement sensor 3
Measurement result, the measurement result reflection is laser displacement sensor 3 arrive testee surface distance；
Measurement process realization is as follows,
The relative position of rotating platform 1 and hoistable platform 2 is fixed, laser displacement sensor 3 is directed toward rotating platform 1
The center of circle is rotated horizontally, and measures the distance that laser displacement sensor 3 arrives the rotation center of rotating platform 1, is denoted as Dfix；
By adjusting hoistable platform 2, testee is scanned every preset vertical separation value h, every time when scanning,
It is rotated by 360 ° by controlling rotating platform 1 with testee；
While rotating platform 1 is rotated with testee, 4 continuous acquisition laser displacement sensor 4 of computer is measured
Distance value Dmeas, according to DmeasMake following meter with the rotation angle, θ of corresponding rotating platform 1 and the height value Z of hoistable platform 2
It calculates, with the coordinate (X of measured target point on the object under test 5 that is being measuredp,Yp,Zp)。
Moreover, i.e. horizontal plane is highly used as Z axis as the X/Y plane for measuring coordinate system with the surfaces of revolution of rotating platform 1,
The origin O of coordinate system is in the rotation center of rotating platform 1, and X-axis is directed toward laser displacement sensor 3, according to DmeasWith corresponding rotation
Turn the rotation angle, θ of platform 1 and the height value Z of hoistable platform 2, calculates measured target point on the object under test 5 measured
Coordinate (Xp,Yp,Zp) as follows,
Xp=(Dfix-Dmeas)×cosθ
Yp=(Dfix-Dmeas)×sinθ
Zp=Z.
Moreover, the low cost measurement modeling for miniature precision workpiece.
The present invention provides a kind of Small object precision three-dimensional laser scanning system, by rotating platform 1, hoistable platform 2, laser position
Displacement sensor 3 and computer 4 form, and rotating platform 1, hoistable platform 2, laser displacement sensor 3 and computer 4 are separately connected,
Rotating platform 1 is rotated for placing testee with testee；
Setting can adjust the hold assembly fixed laser displacement sensor 3 of height in hoistable platform 2；
Rotating platform 1 and hoistable platform 2 are controlled by computer 4, and computer 4 controls rotating platform 1 and rotates angle and lifting
The height of platform 2, and obtain the height value Z of rotation angle, θ and hoistable platform 2；Computer 4 also obtains laser displacement sensor 3
Measurement result, the measurement result reflection is laser displacement sensor 3 arrive testee surface distance；
Measurement process realization is as follows,
The relative position of rotating platform 1 and hoistable platform 2 is fixed, laser displacement sensor 3 is directed toward rotating platform 1
The center of circle is rotated horizontally, and measures the distance that laser displacement sensor 3 arrives the rotation center of rotating platform 1, is denoted as Dfix；
By adjusting hoistable platform 2, testee is scanned every preset vertical separation value h, every time when scanning,
It is rotated by 360 ° by controlling rotating platform 1 with testee；
While rotating platform 1 is rotated with testee, 4 continuous acquisition laser displacement sensor 4 of computer is measured
Distance value Dmeas, according to DmeasMake following meter with the rotation angle, θ of corresponding rotating platform 1 and the height value Z of hoistable platform 2
It calculates, with the coordinate (X of measured target point on the object under test 5 that is being measuredp,Yp,Zp)。
Moreover, i.e. horizontal plane is highly used as Z axis as the X/Y plane for measuring coordinate system with the surfaces of revolution of rotating platform 1,
The origin O of coordinate system is in the rotation center of rotating platform 1, and X-axis is directed toward laser displacement sensor 3, according to DmeasWith corresponding rotation
Turn the rotation angle, θ of platform 1 and the height value Z of hoistable platform 2, calculates measured target point on the object under test 5 measured
Coordinate (Xp,Yp,Zp) as follows,
Xp=(Dfix-Dmeas)×cosθ
Yp=(Dfix-Dmeas)×sinθ
Zp=Z.
Moreover, the low cost measurement modeling for miniature precision workpiece.
The present invention realizes the accurate measurement and modeling of small-sized object with lower cost, and precision can achieve 0.03 millimeter.
It does not need not needing to label will in target yet, can be widely applied to the survey of miniature precision workpiece using expensive scanner
Amount, modeling, have important market value.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of the embodiment of the present invention.
Fig. 2 is the XY coordinate relational graph of the embodiment of the present invention.
Specific embodiment
The present invention is described in further detail with reference to the accompanying drawings and embodiments.
Referring to Fig. 1, in the embodiment of the present invention, system is calculated by rotating platform 1, hoistable platform 2, laser displacement sensor 3
Machine 4 is constituted.Rotating platform 1, hoistable platform 2, laser displacement sensor 3 and computer 4 are separately connected.Rotating platform 1 is for putting
Testee 5 is set, and is rotated with testee 5.Height-adjustable hold assembly fixed laser displacement passes in hoistable platform 2
Sensor 3.
With the surfaces of revolution of rotating platform 1, i.e. X/Y plane of the horizontal plane as measurement coordinate system, it is highly used as Z axis, coordinate system
Origin O rotating platform 1 rotation center, X-axis be directed toward laser displacement sensor 3.
Rotating platform 1 and hoistable platform 2 are controlled by computer 4, computer 4 can control rotating platform 1 rotate angle and
The height of hoistable platform 2, and rotation angle, θ and podium level Z can be accurately obtained.Computer 4 can also obtain laser displacement
The measurement result of sensor 3, measurement result reflection is distance of the laser displacement sensor 3 to 5 surface of testee.
The relative position of rotating platform 1 and hoistable platform 2 is fixed first, laser displacement sensor 3 is directed toward rotary flat
The horizontal rotation center of circle of platform 1, laser displacement sensor 3 are fixed on the hold assembly on hoistable platform 2, can be with liter
It drops the lifting of platform 2 and moves up and down.And the distance that laser displacement sensor 3 arrives the rotation center of rotating platform 1 is measured, it is denoted as
Dfix。
The hold assembly of hoistable platform 2 adjusted into the extreme lower position into scanning process, at this time laser displacement sensor 3
Laser beam should be just concordant with the upper surface of rotating platform 1；Testee 5 is placed on rotating platform 1, is controlled by computer 4
Rotating platform 1 is rotated with testee 5, and direction of rotation is that viewing is clockwise from top visual angle
Every to have rotated 360 degree, computer 4 controls the pause rotation of rotating platform 1, and laser displacement sensor 3 stops ranging, and
It controls hoistable platform 2 and increases h height, when it is implemented, the setting of vertical separation value h depends on wanting the measurement accuracy of object
It asks, such as needs to obtain object with the outline data of the cross section of 1mm spacing, then h=1mm.
After hoistable platform 2 is increased to new position, computer 4 controls rotating platform 1 again and rotates with object, makes simultaneously
Laser displacement sensor 3 is started to work.
So circulation until the top of the arrival hoistable platform of laser displacement sensor 3, or is already higher than object under test
Until 5 height.
While rotating platform 1 is rotated with object, 4 continuous acquisition laser displacement sensor 4 of computer measure away from
From value Dmeas, and by DmeasThe current height value Z of the rotation angle, θ and hoistable platform 2 of rotating platform 1 at this time makees as follows
It calculates, with the coordinate (X of measured target point on the object under test 5 that is being measuredp,Yp,Zp):
Xp=(Dfix-Dmeas)×cosθ
Yp=(Dfix-Dmeas)×sinθ
Zp=Z
Wherein XpWith YpCalculating process can refer to Fig. 2, when specific implementation can be used software technology realize automatically control with
Measurement.
Whenever rotating platform 1 turns around, so that it may the cross-sectional profiles coordinate of the object at height Z at this time is obtained, it will
Coordinate set on each different height gets up, and the point cloud data of object can be obtained.
The maximum planes size of measured target 5 is decided by the range of laser displacement sensor 3, and maximum height determines
In hoistable platform 2.
When it is implemented, existing chip can be used for each device or element is realized.The main devices type selecting of embodiment is as follows:
Rotating platform can be used stepper motor and voluntarily control or using electricity such as existing products, such as Y200RA100
Control turntable.Its angle absolute fix precision can achieve 0.01 degree.If measured article diameters are 10 centimetres, point
Away from can be as accurate as 10 microns or less.
Stepper motor can be used in hoistable platform and gear structure is realized, also uses existing product, such as Y300TA300 etc.
Electronic control translation stage, by its vertical use, 30 centimetres of moving range, 30 microns of precision (0.003 centimetre).
Laser displacement sensor 3 is core component, directly affects the precision of system, and the OD5- of SICK company can be used
150T40 precise laser displacement sensor, range are 11 centimetres -19 centimetres, and resolution ratio is 2 microns, and measuring speed is up to
10KHz。
Three device prices listed above are not high, and when implementation passes through serial ports and connect with computer.Computer can benefit
With industry spot existing device, further reduce the cost.
For example, circle (19-11=8) of the maximum planes of measured target 5 having a size of 8 centimetres of radius, maximum height are
30 centimetres.
It is 8 in radius if guaranteeing still to can achieve best precision when measuring objective plane size maximum
Centimetre circumference on, the distribution for putting cloud will reach 30 microns of spacing, that is, each all 2 π × 8/0.003=16756 point.And
The measuring speed of laser displacement sensor 3 is 10KHz, that is to say, that measurement needs 16756/10000=1.6756 seconds in one week.?
That is needing to control rotating platform 1 by computer 4, rotate a circle within every 1.6756 seconds, then controls hoistable platform 2 and raise 30
Micron is primary.If the height for measuring target 5 is 5 centimetres, total time of measuring is 5/0.003*1.6756=2792 seconds.Institute
Obtained coordinate sum is 2792*10000=27920000, close to 2,008,000,000 points.Reduce point cloud density or
The measuring speed for improving laser displacement sensor 3, can shorten time of measuring.
Specific embodiment described in the present invention is only exemplary of the invention.It is any to be familiar with the technology
Technical staff does in the technical scope disclosed in the present invention, can all be readily available its change or replacement, therefore the present invention protects model
Enclosing should all cover within the protection scope being defined by the claims.
Claims (6)
1. a kind of Small object precision three-dimensional Laser Scanning, it is characterised in that: setting rotating platform (1), hoistable platform (2),
Laser displacement sensor (3) and computer (4), rotating platform (1), hoistable platform (2), laser displacement sensor (3) and calculating
Machine (4) is separately connected,
Rotating platform (1) is rotated for placing testee with testee；
Setting can adjust the hold assembly fixed laser displacement sensor (3) of height in hoistable platform (2)；
Rotating platform (1) and hoistable platform (2) are controlled by computer (4), and computer (4) controls rotating platform (1) and rotates angle
With the height of hoistable platform (2), and obtain rotation angle, θ and hoistable platform (2) height value Z；Computer (4) also obtains laser
The measurement result of displacement sensor (3), measurement result reflection be laser displacement sensor (3) to testee surface away from
From；
Measurement process realization is as follows,
The relative position of rotating platform (1) and hoistable platform (2) is fixed, laser displacement sensor (3) are directed toward rotating platform
(1) the horizontal rotation center of circle, and the distance of the rotation center of laser displacement sensor (3) to rotating platform (1) is measured, it is denoted as
Dfix；
By adjusting hoistable platform (2), testee is scanned every preset vertical separation value h, every time when scanning, is led to
Control rotating platform (1) is crossed to be rotated by 360 ° with testee；
While rotating platform (1) is rotated with testee, computer (4) continuous acquisition laser displacement sensor 4 is measured
Distance value Dmeas, according to DmeasMake such as with the rotation angle, θ of corresponding rotating platform (1) and the height value Z of hoistable platform (2)
Lower calculating, with the coordinate (X of measured target point on the object under test 5 that is being measuredp,Yp,Zp)。
2. Small object precision three-dimensional Laser Scanning according to claim 1, it is characterised in that: with rotating platform (1)
The X/Y plane of the surfaces of revolution, i.e. horizontal plane as measurement coordinate system, is highly used as Z axis, the origin O of coordinate system is in rotating platform (1)
Rotation center, X-axis be directed toward laser displacement sensor (3), according to DmeasWith the rotation angle, θ of corresponding rotating platform (1) and
The height value Z of hoistable platform (2) calculates the coordinate (X of measured target point on the object under test 5 measuredp,Yp,Zp) as follows,
Xp=(Dfix-Dmeas)×cosθ
Yp=(Dfix-Dmeas)×sinθ
Zp=Z.
3. Small object precision three-dimensional Laser Scanning according to claim 1 or claim 2, it is characterised in that: be used for miniature precision
The low cost measurement modeling of workpiece.
4. a kind of Small object precision three-dimensional laser scanning system, it is characterised in that: by rotating platform (1), hoistable platform (2), swash
Optical displacement sensor (3) and computer (4) composition, rotating platform (1), hoistable platform (2), laser displacement sensor (3) and meter
Calculation machine (4) is separately connected,
Rotating platform (1) is rotated for placing testee with testee；
Setting can adjust the hold assembly fixed laser displacement sensor (3) of height in hoistable platform (2)；
Rotating platform (1) and hoistable platform (2) are controlled by computer (4), and computer (4) controls rotating platform (1) and rotates angle
With the height of hoistable platform (2), and obtain rotation angle, θ and hoistable platform (2) height value Z；Computer (4) also obtains laser
The measurement result of displacement sensor (3), measurement result reflection be laser displacement sensor (3) to testee surface away from
From；
Measurement process realization is as follows,
The relative position of rotating platform (1) and hoistable platform (2) is fixed, laser displacement sensor (3) are directed toward rotating platform
(1) the horizontal rotation center of circle, and the distance of the rotation center of laser displacement sensor (3) to rotating platform (1) is measured, it is denoted as
Dfix；
By adjusting hoistable platform (2), testee is scanned every preset vertical separation value h, every time when scanning, is led to
Control rotating platform (1) is crossed to be rotated by 360 ° with testee；
While rotating platform (1) is rotated with testee, computer (4) continuous acquisition laser displacement sensor 4 is measured
Distance value Dmeas, according to DmeasMake such as with the rotation angle, θ of corresponding rotating platform (1) and the height value Z of hoistable platform (2)
Lower calculating, with the coordinate (X of measured target point on the object under test 5 that is being measuredp,Yp,Zp)。
5. Small object precision three-dimensional laser scanning system according to claim 4, it is characterised in that: with rotating platform (1)
The X/Y plane of the surfaces of revolution, i.e. horizontal plane as measurement coordinate system, is highly used as Z axis, the origin O of coordinate system is in rotating platform (1)
Rotation center, X-axis be directed toward laser displacement sensor (3), according to DmeasWith the rotation angle, θ of corresponding rotating platform (1) and
The height value Z of hoistable platform (2) calculates the coordinate (X of measured target point on the object under test 5 measuredp,Yp,Zp) as follows,
Xp=(Dfix-Dmeas)×cosθ
Yp=(Dfix-Dmeas)×sinθ
Zp=Z.
6. Small object precision three-dimensional laser scanning system according to claim 4 or 5, it is characterised in that: be used for miniature precision
The low cost measurement modeling of workpiece.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110561434A (en) * | 2019-09-12 | 2019-12-13 | 武汉宝悍焊接设备有限公司 | Method for analyzing linear vertical lifting motion track of lower tool apron of double-edged shear of laser welding machine |
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Patent Citations (5)
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| CN105043287A (en) * | 2015-04-30 | 2015-11-11 | 杭州职业技术学院 | Cam profile detecting apparatus based on grey correlation evaluation and method thereof |
| CN105698700A (en) * | 2016-02-01 | 2016-06-22 | 西安交通大学 | Tabletop-type three-dimensional laser scanning device with high degree of freedom |
| CN107741198A (en) * | 2017-09-25 | 2018-02-27 | 北京华睿盛德科技有限公司 | A kind of method based on the demarcation of four axle optical scanning system turntables |
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Application publication date: 20190607 |